Method for detecting map error information, apparatus, device, vehicle and storage medium

Abstract

The present application provides a method for detecting map error information, an apparatus, a device, a vehicle and a storage medium, where the method includes: acquiring current environmental feature information around a vehicle; and detecting, according to the current environmental feature information and map data, whether the map data is erroneous. Whether the map data is erroneous is detected in real time based on the current environmental feature information during the process of the actual traveling of the vehicle, which improves timeliness and efficiency for the map error detection, thereby the map data can be corrected in time and the traveling safety of the vehicle may be improved.

What is claimed is: 
     
       1. A method for detecting map error information, comprising:
 acquiring, by a vehicle, current environmental feature information around the vehicle, wherein the current environmental feature information comprises at least one of lane line feature information, intersection feature information, lane quantity feature information, and roadside object feature information; 
 detecting, by the vehicle, according to the current environmental feature information and map data, whether the map data is erroneous; 
 determining whether a map data error affects traveling of the vehicle if the map data is determined to be erroneous, and correspondingly controlling a traveling state of the vehicle if the map data error affects the traveling of the vehicle; 
 wherein the correspondingly controlling a traveling state of the vehicle comprises:
 acquiring lane confidence levels of various lanes of a current road, 
 according to the current environmental feature information and the map data, wherein a lane confidence level of each lane represents a degree of consistency between detected position information of the lane and position formation of the lane in the map data; 
 determining, from the lanes of the current road, a lane having a highest lane confidence level as a target lane; and 
 controlling the vehicle to continue traveling along the target lane at a speed corresponding to the lane confidence level of the target lane, 
 wherein different speeds are set for different lane confidence levels. 
 
 
     
     
       2. The method according to  claim 1 , wherein the acquiring current environmental feature information around a vehicle comprises:
 acquiring, from a plurality of sensors on the vehicle, detection information of the sensors; 
 acquiring the current environmental feature information according to the detection information of the sensors. 
 
     
     
       3. The method according to  claim 1 , wherein after the controlling the vehicle to continue traveling along the target lane at a speed corresponding to the lane confidence level of the target lane, the method further comprises:
 detecting a consistency between a road ahead and the map data in real-time; 
 controlling the vehicle to resume a normal traveling state, when it is detected that the road ahead is consistent with the map data. 
 
     
     
       4. The method according to  claim 1 , wherein the method further comprises:
 reporting error information to a server if the map data is determined to be erroneous, so as to cause the server to correct the map data. 
 
     
     
       5. The method according to  claim 1 , wherein the method further comprises:
 giving alarm information, if the map data is determined to be erroneous. 
 
     
     
       6. An apparatus for detecting map error information, the apparatus being disposed in a vehicle and comprising:
 at least one processor and a memory; 
 the memory stores a computer program, wherein the computer program stored in the memory when being executed by the at least one processor, causes the at least one processor to: 
 acquire current environmental feature information around the vehicle, wherein the current environmental feature information comprises at least one of lane line feature information, intersection feature information, lane quantity feature information, and roadside object feature information; 
 detect, according to the current environmental feature information and map data, whether the map data is erroneous; 
 determine whether a map data error affects traveling of the vehicle if the map data is determined to be erroneous, and correspondingly control a traveling state of the vehicle if the map data error affects the traveling of the vehicle; 
 wherein the computer program further causes the processor to:
 acquire lane confidence levels of various lanes of a current road according to the current environmental feature information and the map data, wherein a lane confidence level of each lane represents a degree of consistency between detected position information of the lane and position formation of the lane in the map data; 
 determine, from the lanes of the current road, a lane having a highest lane confidence level as a target lane; and 
 control the vehicle to continue traveling along the target lane at a speed corresponding to the lane confidence level of the target lane, 
 wherein different speeds are set for different lane confidence levels. 
 
 
     
     
       7. The apparatus according to  claim 6 , wherein the computer program further causes the processor to:
 acquire, from a plurality of sensors on the vehicle, detection information of the sensors; 
 acquire the current environmental feature information according to the detection information of the sensors. 
 
     
     
       8. The apparatus according to  claim 6 , wherein the computer program further causes the processor to:
 detect a consistency between a road ahead and the map data in real-time; 
 control the vehicle to resume a normal traveling state, after it is detected that the road ahead is consistent with the map data. 
 
     
     
       9. The apparatus according to  claim 6 , wherein the computer program further causes the processor to:
 report error information to a server if the map data is determined to be erroneous, so as to causes the server to correct the map data. 
 
     
     
       10. The apparatus according to  claim 6 , wherein the computer program further causes the processor to:
 give alarm information, if the map data is determined to be erroneous. 
 
     
     
       11. A vehicle, comprising: at least one sensor, and an apparatus for detecting map error information, the apparatus comprising:
 at least one processor and a memory; 
 the memory stores a computer program, wherein the computer program stored in the memory when being executed by the at least one processor, causes the at least one processor to: 
 acquire, from the at least one sensor, current environmental feature information around the vehicle, wherein the current environmental feature information comprises at least one of lane line feature information, intersection feature information, lane quantity feature information, and roadside object feature information; 
 detect, according to the current environmental feature information and map data, whether the map data is erroneous; 
 determine whether a map data error affects traveling of the vehicle if the map data is determined to be erroneous, and correspondingly control a traveling state of the vehicle if the map data error affects the traveling of the vehicle; 
 wherein the computer program further causes the processor to:
 acquire lane confidence levels of various lanes of a current road, according to the current environmental feature information and the map data, wherein a lane confidence level of each lane represents a degree of consistency between detected position information of the lane and position formation of the lane in the map data; 
 determine, from the lanes of the current road, a lane having a highest lane confidence level as a target lane; and 
 control the vehicle to continue traveling along the target lane at a speed corresponding to the lane confidence level of the target lane, wherein different speeds are set for different lane confidence levels. 
 
 
     
     
       12. The method according to  claim 1 , wherein the method further comprises:
 giving alarm information only in a situation where the map data error causes risk for the traveling of the vehicle, not giving the alarm information and not controlling the traveling state of the vehicle in a situation where there is one additional object on the roadside that does not affect the traveling of the vehicle. 
 
     
     
       13. The apparatus according to  claim 6 , wherein the computer program further causes the processor to:
 give alarm information only in a situation where the map data error causes risk for the traveling of the vehicle, not give the alarm information and not control the traveling state of the vehicle in a situation where there is one additional object on the roadside that does not affect the traveling of the vehicle. 
 
     
     
       14. The method according to  claim 1 , wherein the lane feature information comprises lane line position information, and a quantity of lane lines at different positions of a road ahead; the intersection feature information comprises intersection position information, what kind of intersection it is, what buildings are there in an impassable direction of an intersection, and traffic light information at the intersection; the lane quantity feature information comprises a quantity of lanes corresponding to an impassable position ahead; and the roadside object feature information comprises building, a sign, a telegraph pole appearing at roadside. 
     
     
       15. The apparatus according to  claim 6 , wherein the lane feature information comprises lane line position information, and a quantity of lane lines at different positions of a road ahead; the intersection feature information comprises intersection position information, what kind of intersection it is, what buildings are there in an impassable direction of an intersection, and traffic light information at the intersection; the lane quantity feature information comprises a quantity of lanes corresponding to an impassable position ahead; and the roadside object feature information comprises building, a sign, a telegraph pole appearing at roadside. 
     
     
       16. The device according to  claim 11 , wherein the lane feature information comprises lane line position information, and a quantity of lane lines at different positions of a road ahead; the intersection feature information comprises intersection position information, what kind of intersection it is, what buildings are there in an impassable direction of an intersection, and traffic light information at the intersection; the lane quantity feature information comprises a quantity of lanes corresponding to an impassable position ahead; and the roadside object feature information comprises building, a sign, a telegraph pole appearing at roadside.